feat: tune condition of between cruise and stop (#565) (#590)

Tune condition of between cruise and stop Co-authored-by: Shohei Sakai <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]>
tier4 · Jun 25, 2024 · c612bd5 · c612bd5
1 parent 4e48305
commit c612bd5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -78,8 +78,8 @@
       stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle
 
       # hysteresis for cruise and stop
-      obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
-      obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_cruise_to_stop : 4.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
+      obstacle_velocity_threshold_from_stop_to_cruise : 4.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
 
       # if crossing vehicle is determined as target obstacles or not
       crossing_obstacle: